JP5158621B2 - Disaster rescue robot - Google Patents

Description

  The present invention relates to a disaster rescue robot using a crawler.

  Conventionally, in this type of disaster rescue robot, a disaster rescue robot described in Patent Document 1 below is disclosed. This disaster rescue robot includes a robot body, first crawlers on both left and right sides, and second crawlers on both left and right sides.

  The first crawlers on the left and right sides are provided on both the left and right sides of the robot body. Further, the left second crawler is provided on the left first crawler from the outside, and the left second crawler is vertically opposed to the front end of the left first crawler at the front end thereof. It is connected so that it can rotate. The second crawler on the right side is provided on the right side of the first crawler on the right side, and the second crawler on the right side is vertically opposed to the front end portion of the first crawler on the right side at the front end portion thereof. It is connected so that it can rotate.

Therefore, when the disaster rescue robot travels on the planar traveling surface, the second crawlers on both the left and right sides are in a state of being aligned side by side on the planar traveling surface with the first crawlers on both the left and right sides. In such a state, when the disaster rescue robot encounters debris that is higher than the planar traveling surface in front of it, the second crawlers on the left and right sides rotate around the front end portions of the first crawlers on the left and right sides. Then, it hits the rubble in an inclined manner, and then proceeds forward while riding on the rubble.
JP 2006-171893 A

  By the way, in the case of the disaster rescue robot, the rotation directions of the left and right second crawlers are always the same as the left and right first crawlers. For this reason, when there is debris immediately above the debris, and the space between the two debris is narrow, it is difficult for the disaster rescue robot to enter between the debris on both the upper and lower sides depending on the left and right second crawlers. It is.

  In view of the above, the present invention provides a disaster-rescue robot in which a plurality of crawlers are devised in order to deal with the above-described problems and can enter a narrow space of upper and lower rubble in a disaster-stricken area. For the purpose.

In solving the above-mentioned problems, the disaster rescue robot according to the present invention, according to claim 1,
A lower crawler (CL1, CR1) having a crawler belt (30), and an upper crawler (CL2, CR2) having a crawler belt (30) stacked on the lower crawler and reversely rotated outward from each other. And crawler units (CL, CR) on both the left and right sides,
Top wall (1 1), and the left wall (1 2) and the lower wall (1 3) comprising setting only the U-shaped left container member (1 0), the upper wall (21), the right wall (22) and A cylindrical container (B) having a U-shaped right container member (20) provided with a lower wall (23) and connected to the left and right crawler units between the left and right crawler units; With
The left container member is configured such that the upper and lower walls of the left container member are fitted to the upper and lower walls of the right container member so as to be displaceable in the left-right direction and not separable, thereby forming the cylindrical container.
The left crawler unit is supported on the left wall of the left container member by the respective rollers (50, 60, 40, 70) of the lower crawler and the upper crawler, and the right crawler unit includes the lower crawler and Each wheel (50, 60, 40, 70) of the upper crawler is supported on the right wall of the right container member.

Thus, the disaster relief robot, the left and right sides crawler unit, with a container, while connected firmly, while reversing outward from each other in each crawler belt of the upper and lower sides crawler, and to advance. For this reason, even if the upper and lower rubble exists in a narrow space in front of the disaster rescue robot, the disaster rescue robot spreads between the upper and lower rubble using the upper and lower crawler belts. Can enter between rubble. This means that the disaster rescue robot enters between the upper and lower rubble so that the upper rubble rides on it under the rotation of the upper crawler belt. As a result, even if there are victims behind the upper and lower rubble, the victims can be smoothly remedied.

According to the description of claim 2, the present invention provides the disaster rescue robot according to claim 1 ,
Container width adjusting means (200) for adjusting the width between the left wall of the left container member and the right wall of the right container member is provided.

  As a result, by adjusting the width between the left wall of the left container member and the right wall of the right container member, it is possible to more easily accommodate the victim in the container.

According to a third aspect of the present invention, in the disaster rescue robot according to the first or second aspect ,
Left drive means (DL) for driving the drive wheels of the upper and lower crawlers of the left crawler unit so as to reverse each other outward;
The right crawler unit is provided with right driving means (DR) for driving the driving wheels of both the upper and lower crawlers of the right crawler unit so as to reverse each other outward.

As a result, it is possible to ensure better driving for reversing the left and right crawler units outwardly by the crawler belts of the upper and lower crawlers. As a result, the operational effect of the invention according to claim 1 or 2 can be further improved.

Moreover, Te present invention, according to the description of claim 4, disaster relief robot smell according to any one of claims 1 to 3,
A vital sensor unit (310) that is provided with a longitudinal displacement member (310) that extends forward from the container and has illumination means (360), blood flow imaging means (340), and heart sound measurement means (350) at the tip. 300).

  Thereby, even if there is a victim in front of the disaster rescue robot, under the illumination by the illumination means, the blood flow of the victim and the blood flow image taken by the blood flow photography means and the measurement heart sound by the heart sound measurement means You can check your heartbeat.

According to a fifth aspect of the present invention, in the disaster rescue robot according to the fourth aspect ,
The longitudinal displacement member includes a rod (311) supported by a plurality of guide members (320) so as to be displaceable in the front-rear direction on the upper wall of the container, and a bellows shaft (312) coupled to the tip of the rod, A cylindrical body (313) that is supported by the tip of the bellows shaft and accommodates illumination means, blood flow imaging means, and heart sound measurement means,
Each guide member is configured to displace the rod forward (or backward) by forward rotation (or reverse rotation) of the guide motor (322),
The bellows axis is adjusted by the angle adjusting means (330) so as to change the direction of the cylinder in the vertical direction.

According to this, the direction of the cylinder, in other words, the direction of illumination of the illumination means, the direction of imaging of the blood flow imaging means, and the direction of measurement of the heart sound measuring means make the displacement of the cylinder in the front-rear direction appropriate. However, it is adjusted to be suitable for the victims. As a result, the function and effect of the invention of claim 4 can be further improved.

According to a sixth aspect of the present invention, in the disaster rescue robot according to any one of the first to fifth aspects,
A storage base (600a) fixed along the bottom wall in the container, and a slider (600b) attached to the storage base so as to be slidable in the front-rear direction at the front thereof;
And a slider mechanism (600c) for sliding the slider forward.

As a result, the effect of the invention according to any one of claims 1 to 5 can be achieved, and the slider is moved forward of the slider by the slider mechanism, so that the victim is placed on the accommodation table. Containment can be achieved more reliably.

According to a seventh aspect of the present invention, in the disaster rescue robot according to any one of the first to sixth aspects,
A double-walled cuff (700) provided in the container and opening toward the front thereof;
Compressed air supply means (800) for supplying compressed air to the cuff so as to expand the inside of the cuff wall is provided.

Thereby, after accommodating a disaster victim in a cuff, a cuff can be expanded with compressed air. As a result, even after releasing the victim from the rubble, the pressure on the victim can be secured by the expansion of the cuff. As a result, the effects of the invention according to any one of claims 1 to 6 can be achieved while preventing adverse effects on the affected person that occur when the affected person is released from the rubble.

  In addition, the code | symbol in the bracket | parenthesis of each said means shows the correspondence with the specific means as described in embodiment mentioned later.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  1 to 4 show a disaster rescue robot according to the present invention. This disaster rescue robot includes a cylindrical container B and left and right crawler units CL and CR connected to the container B from both left and right sides.

As shown in FIG. 2, FIG. 4 or FIG. 5, the container B includes left and right side container members 10, 20, and the left container member 10 has a U shape with an upper wall 11, a left wall 12 and a bottom wall 13. It is formed with a highly rigid metal plate so as to be shaped. On the other hand, the right container member 20 is formed of a highly rigid metal plate so that the upper wall 21, the right wall 22, and the lower wall 23 are U-shaped . Note that the upper wall 11 of the left container member 10 and the upper wall 21 of the right container member 20 correspond to the upper wall of the container B, as is apparent from FIG.

  Here, as shown in FIG. 5, the left container member 10 is left and right within the front and rear cross-sectional U-shaped portions 21 a formed on the upper wall 11 at both front and rear edges of the upper wall 21 of the right container member 20. It is fitted so that it can move relative to the direction. Further, the left container member 10 has a U-shaped cross section 23a on both the front and rear sides formed at the front and rear edges of the lower wall 23 of the right container member 20 at the lower wall 13 (in FIG. 5, the rear cross section U). (Only the character-shaped portion 23a is shown) and is relatively movably fitted in the left-right direction.

  Further, the left container member 10 is laterally formed on the upper wall 21 of the right container member 20 at the neck portions of both T-shaped protrusions 11a projecting from the right edge of the upper wall 11 with a space in the front-rear direction. It engages in both groove portions 21b formed along and along the front and rear, and is relatively movable in the left-right direction and cannot be separated.

  In the present embodiment, when each projection 11a comes into contact with the right end of the inner peripheral surface of each groove 21b at its neck, the left-right direction between the left wall 12 of the left container member 10 and the right wall 22 of the right container 20 The width is minimized. On the other hand, when each projection 11a comes into contact with the left end of the inner peripheral surface of each groove 21b at its neck, the width in the left-right direction between the left wall 12 of the left container member 10 and the right wall 22 of the right container 20 is maximum. It becomes.

  Further, the left wall 12 and the right wall 22 extend forward from the front edge portions of the upper wall 11 and the lower wall 13 at the front end portions 12a and 22a, respectively. This means that the container B faces the front of the disaster rescue robot at the opening portions (front opening portions) on the front end portions 12a and 22a of the left and right container members 10 and 20.

  The left wall 12 has four lower through-hole portions 12b to 12e and four upper through-hole portions 12f to 12i, and these lower through-hole portions 12b to 12e and upper through-hole portions 12f to 12i. 5 are formed on the left wall 12 at intervals in the front-rear direction, corresponding to each other vertically. On the other hand, the right wall 22 has four lower through-hole portions and four upper through-hole portions (not shown), and the above-described four lower through-hole portions 12b to 12e and four upper through-hole portions 12f to 12i. It is formed to correspond to.

  As shown in any of FIGS. 1 to 4, the left crawler unit CL is configured by a lower crawler CL1 that moves along the traveling surface and an upper crawler CL2 stacked on the lower crawler CL1. . Both crawlers CL1 and CL2 have the same configuration, and both of these crawlers CL1 and CL2 are crawler belt 30, drive wheel 40, front side wheel 50, middle side wheel 60 and rear side which are endless tracks. A roller wheel 70 (only the rear roller wheel 70 of the upper crawler CL2 is shown in FIG. 2) is provided. In the present embodiment, the crawler belt 30, the drive wheel 40, the front wheel 50, the middle wheel 60, and the rear wheel 70 of the lower crawler CL 1 are hereinafter referred to as the left lower crawler belt 30 and the lower left drive wheel. 40, also referred to as a lower left front wheel 50, a lower left middle wheel 60, and a lower left rear wheel 70. Further, the crawler belt 30, the driving wheel 40, the front side wheel 50, the middle side wheel 60 and the rear side wheel 70 of the upper crawler CL2 are hereinafter referred to as the left upper crawler belt 30, the left upper driving wheel 40, and the upper left front wheel. 50, upper left middle wheel 60 and upper left rear wheel 70.

  In the lower crawler CL1, on the inner peripheral surface and outer peripheral surface of the lower left crawler belt 30, a series of width direction inner teeth and width direction outer teeth are respectively spaced apart along the longitudinal direction of the crawler belt. Protrusions are formed. The lower left drive wheel 40 has a through hole 12d (see FIGS. 4 and 5) in the left wall 12 of the left container member 10 through a pair of lower left bearing built-in bosses 42 at an intermediate portion of the rotation shaft 41. It is supported. The lower left drive wheel 40 is sandwiched between the upper intermediate portion and the lower intermediate portion of the lower left crawler belt 30, and the lower left drive wheel 40 has a series of widths formed along the outer peripheral surface thereof. The direction tooth portion meshes with a series of width direction inner tooth portions of the lower left crawler belt 30.

  The lower left front wheel 50 is inserted into the through hole 12b (see FIGS. 5 and 4) of the left wall 12 of the left container member 10 by the rotating shaft 51 (see FIG. 3) in front of the lower left drive wheel 40. The lower left front roller wheel 50 is supported by a pair of lower left bearing built-in bosses 52 (see FIG. 2), and a series of width direction teeth formed on the outer circumferential surface of the lower left front crawler belt 30. Of the lower left crawler belt 30 at the front portion of the inner width direction tooth portion.

  The lower left middle wheel 60 has a through hole 12c (see FIG. 5) in the left wall 12 of the left container member 10 between the lower left front wheel 50 and the lower left drive wheel 40 by the rotation shaft 61 (see FIG. 3). 4) and a pair of lower left bearing built-in bosses 62 (see FIG. 2). The lower left middle wheel 60 is sandwiched between an upper intermediate portion and a lower intermediate portion of the lower left crawler belt 30, and the lower left drive wheel 60 is a series of width direction teeth formed on the outer peripheral surface thereof. The portion engages with a series of inner width direction teeth of the lower left crawler belt 30.

  The lower left rear wheel 70 is positioned behind the lower left drive wheel 40 at the left of the left container member 10 by its rotation shaft (located directly below the rotation shaft 71 of the upper left rear wheel 70 of the upper crawler CL2). A pair of lower left bearing built-in bosses (located directly below the pair of left upper bearing built-in bosses 72 of the upper crawler CL2) are supported in the through hole 12e (see FIGS. 5 and 4) of the wall 12. The rear roller wheel 70 is meshed with a series of inner width direction teeth of the lower left crawler belt 30 at the rear portion of the lower left crawler belt 30 by a series of width direction teeth formed on the outer peripheral surface thereof. It has become.

  In the upper crawler CL2, the upper left crawler belt 30 is configured in the same manner as the lower left crawler belt 30 described above, and the upper left crawler belt 30 is formed at the outer teeth in the width direction of the lower left crawler belt 30. It meshes with the widthwise outer teeth on the upper side.

  The upper left drive wheel 40 has a pair of upper left bearing built-in bosses 42 in the upper through hole 12h (see FIGS. 4 and 5) of the left wall 12 of the left container member 10 at an intermediate portion of the rotation shaft 41. Supported. Further, the left upper drive wheel 40 is sandwiched between the upper intermediate portion and the lower intermediate portion of the left upper crawler belt 30, and the left upper drive wheel 40 is a series of width directions formed on the outer peripheral surface thereof. The teeth portion meshes with a series of width direction inner teeth portions of the upper left crawler belt 30.

  The upper left front wheel 50 is inserted into the through hole 12f (see FIGS. 5 and 4) of the left wall 12 of the left container member 10 in front of the upper left drive wheel 40 by the rotation shaft 51 (see FIG. 3). The upper left front roller wheel 50 is supported by a pair of left upper bearing built-in bosses 52 (see FIG. 2), and a series of width direction teeth formed on the outer peripheral surface of the left upper crawler belt 30 series. The front upper part of the left upper crawler belt 30 meshes with the inner teeth part in the width direction.

  The upper left middle roller 60 has a through-hole 12g (see FIG. 3) in the left wall 12 of the left container member 10 between the upper left front wheel 50 and the upper left drive wheel 40 by the rotation shaft 61 (see FIG. 3). 5 and FIG. 4) through a pair of left upper bearing built-in bosses 62 (see FIG. 2). The middle wheel 60 is sandwiched between an upper middle portion and a lower middle portion of the upper left crawler belt 30, and the upper left middle roller 60 is a series of width direction teeth formed on the outer peripheral surface thereof. Is engaged with a series of widthwise inner teeth of the upper left crawler belt 30.

  The upper left rear wheel 70 is provided with a pair of upper left on the through hole 12i (see FIGS. 5 and 4) of the left wall 12 of the left container member 10 behind the upper left drive wheel 40 by the rotation shaft 71. The upper left rear roller wheel 70 is supported by a series of widthwise teeth on the outer peripheral surface of the upper left crawler belt 30 on a series of widthwise inner teeth of the upper left crawler belt 30. The upper left crawler belt 30 meshes with the rear portion.

  The right crawler unit CR is configured by a lower crawler CR1 and an upper crawler CR2 stacked on the lower crawler CR1 as shown in any of FIGS. The lower crawler CR1 has a symmetric configuration with respect to the lower crawler unit CL1 with respect to the horizontal center line of the container B. Further, the upper crawler CR2 has a symmetric configuration with respect to the upper crawler unit CL2 with respect to the horizontal center line of the container B. Accordingly, the constituent elements of the lower crawler CR1 and the upper crawler unit CR2 are denoted by the same reference numerals as the corresponding constituent elements of the lower crawler CL1 and the upper crawler unit CL2, and the description thereof is omitted.

  However, the rotation axis of the right middle roller 60 of the upper right crawler 30 is the same as the rotation shaft 61 of the left middle roller 60 of the upper left crawler 30, and the right middle wheel 60 of the lower right crawler 30. Is the same as the rotation shaft 61 of the left middle roller 60 of the lower left crawler 30. The letters “left” in the names of the constituent elements of the lower crawler CL1 and the upper crawler unit CL2 are changed to the letters “right” in the names of the constituent elements of the lower crawler CR1 and the upper crawler unit CR2.

  As shown in FIGS. 2 and 3, the disaster rescue robot includes left and right side drive mechanisms DL and DR.

  The left drive mechanism DL includes a helical gear 80 (hereinafter also referred to as a lower left helical gear 80), a helical gear 90 (hereinafter also referred to as an upper left helical gear 90), a worm gear 100 (hereinafter also referred to as a left worm gear 100), and A drive wheel motor 110 (hereinafter also referred to as a left drive wheel motor 110) is provided.

  As shown in FIG. 4, the lower left helical gear 80 is coaxially supported on the rotating shaft 41 of the lower left drive wheel 40 in the container B. As shown in FIGS. 2 and 4, the upper left helical gear 90 is coaxially supported by the rotating shaft 41 of the upper left drive wheel 40 in the container B. The upper left helical gear 90 is provided on the lower left side. It is located directly above the helical gear 80.

  The left worm gear 100 is located between the lower left helical gear 80 and the upper left helical gear 90, and is supported by the output shaft of the left driving wheel motor 110 as will be described later so as to mesh with both the helical gears. ing. The left drive wheel motor 110 is supported at the center in the vertical direction of the left wall 12 in the left container member 10 behind the left worm gear 100, and the output shaft of the left drive wheel motor 110 is the left wall 12. It extends along the front. As a result, the left worm gear 100 is coaxial with the output shaft of the left drive wheel motor 110 so as to rotate in the clockwise direction or the counterclockwise direction shown in FIG. It is supported by.

  In the present embodiment, the inclination direction of each tooth of the lower left helical gear 80 and the inclination direction of each tooth of the left worm gear 100 are advanced by the forward rotation (or reverse rotation) of the left drive wheel motor 110. The lower left crawler belt 30 is formed to rotate forward (or reverse) in the direction (or reverse direction). Further, the inclination direction of each tooth of the upper left helical gear 90 is formed so as to reverse with the forward rotation of the lower left crawler belt 30 or to rotate forward with the reverse rotation of the lower left crawler belt 30.

  In the present embodiment, the left drive mechanism DL is covered with the left partition 14 in the container B (see FIG. 2). The left partition 14 is assembled to the left wall 12 so as to surround the left drive mechanism DL. A DC motor is employed as the left drive wheel motor 110.

Right drive mechanism DR is based on the widthwise center line of the container B, the left driving mechanism DL has a symmetrical structure (see Figure 2). Therefore, each constituent element of the right driving mechanism DR is denoted by the same reference numeral as each corresponding constituent element of the left driving mechanism DL, and the description thereof is omitted. The character “left” in the name of each component of the left drive mechanism DL is changed to the character “right” in the name of each corresponding component of the right drive mechanism DR.

  Under such a premise, in the present embodiment, the inclination direction of each tooth of the lower right helical gear 80 and the inclination direction of each tooth of the right worm gear 100 are forward rotation (or reverse rotation) of the right drive wheel motor 110. Accordingly, the lower right crawler belt 30 is configured to rotate forward (or reverse) in the forward direction (or reverse direction) of the disaster rescue robot. Further, the inclination direction of each tooth of the upper right helical gear 90 is formed so as to reverse with the forward rotation of the lower right crawler belt 30 or to rotate forward with the reverse rotation of the lower right crawler belt 30.

  The right drive wheel motor 110 is supported on the right wall 22 in the container B at a position corresponding to the left drive wheel motor 110. The right drive mechanism DR is covered with the right partition 14 in the container B (see FIG. 2). The right partition 14 is assembled to the right wall 22 so as to surround the right drive mechanism DR.

  The disaster rescue robot includes a container width adjusting mechanism 200, a vital sensor unit 300, a call speaker 400a, a call microphone 400b (see FIG. 16), a voice reaction confirmation microphone 500a, and a voice reaction confirmation speaker 500b (FIG. 16). And an infrared camera 500c for status confirmation (see FIG. 16), an air supply mechanism 800, and an LCD 900 (see FIG. 16).

As shown in FIG. 2 or 4, the container width adjusting mechanism 200 includes a width adjusting motor 210 and a double-cut bolt 220. Width adjustment motor 210, immediately above the left and right sides drive wheel motor 110 is supported on the top of the right wall 22 of the right container member 20 in the container B, the output shaft of the width adjusting motor 210, the right container The left container member 10 extends toward the left wall 12 so as to be orthogonal to the right wall 22 of the member 20.

The double-cut bolt 220 is coaxially supported by the output shaft of the width adjusting motor 210 at the right end portion thereof, and the double-cut bolt 220 is inserted into the left container member via the support member 230 at an intermediate portion in the axial direction. 10 is supported at an appropriate position on the upper wall 11. Support member 230 has a seat 231及beauty female ne Flip hole 232, the seat 231 is mounted in place of the upper wall 11 of the left container member 10 described above. The female screw hole portion 232 protrudes downward from the seat portion 231, and the double threaded bolt 220 is screwed into the female screw hole portion 232 so as to be axially movable. Note that a DC motor is employed as the width adjustment motor 210.

  In the container width adjusting mechanism 200 configured as described above, when the double-cut bolt 220 rotates forward with the normal rotation of the width adjustment motor 210, the support member 230 is screwed with the double-cut bolt 220 of the screw hole portion 232 thereof. Originally, the left container member 10 is displaced leftward and the left container member 10 is moved leftward together with the left crawler unit CL. This means that the lateral width of the container B is expanded.

  On the other hand, when the double-cut bolt 220 is rotated in reverse with the reverse rotation of the width adjusting motor 210, the support member 230 is displaced to the right under the screw engagement with the double-cut bolt 220 of the screw hole portion 232, and the left container The member 10 is moved to the right together with the left crawler unit CL. This means that the horizontal width of the container B is reduced.

  As can be seen from FIGS. 2 to 4, the vital sensor unit 300 is provided in the container B. The vital sensor unit 300 includes a longitudinal displacement member 310, and the displacement member 310 is configured by a rod 311, a bellows shaft 312, and a cylindrical body 313.

  The bellows shaft 312 is coaxially connected to the tip of the rod 311. The cylindrical body 313 is configured by extending a rod portion 313b from the bottom portion of the cylindrical accommodating portion 313a, and this cylindrical body 313 is coaxially connected to the distal end portion of the bellows shaft 312 by the rod portion 313b. ing.

  Here, the rod 311 is supported through a plurality of guide members 320 so as to extend in the front-rear direction along the center in the width direction of the upper wall 11 in the left container member 10 (see FIG. 6).

  As illustrated in FIG. 6, the plurality of guide members 320 are provided at intervals in the front-rear direction along the center in the width direction of the upper wall 11 of the left container member 10. Since the plurality of guide members 320 have the same configuration, the configuration of the guide member 320 shown in FIG. 6 among the plurality of guide members 320 will be described.

  The guide member 320 includes an L-shaped bracket 321, a guide motor 322, and a guide roller 323 as shown in FIG. 6 or 9. The bracket 321 is configured by extending a support portion 321b from the mounting portion 321a in an L-shape, and the bracket 321 is formed on the left container member 10 at the mounting portion 321a so as to suspend the support portion 321b. The upper wall 11 is attached to the front portion in the center in the width direction.

  The guide motor 322 is provided on the support portion 321b of the bracket 321, and the output shaft of the guide motor 322 is rotatably passed through the support portion 321b. The guide roller 323 is coaxially supported on the output shaft of the guide motor 322, and the rod 311 is received on the concave outer peripheral surface of the guide roller 323 from the upper side of the guide roller 323 on the outer peripheral surface thereof. It is accepted. As the guide roller 323, a rubber roller is employed.

  According to the plurality of guide members 320 configured as described above, when the guide roller 323 rotates forward with the forward rotation of the guide motor 322, the rod 311 moves forward under frictional contact with the outer peripheral surface of the guide roller 323. Displace. On the other hand, when the guide roller 323 rotates in reverse with the reverse rotation of the guide motor 322, the rod 311 is displaced rearward under frictional contact with the outer peripheral surface of the guide roller 323.

  Further, as shown in FIG. 6, the vital sensor unit 300 includes an angle adjustment mechanism 330, and the angle adjustment mechanism 330 is configured by a bracket 331, an angle adjustment motor 332, and a U-shaped sandwiching pin 333. ing.

  The bracket 331 is configured to extend the support plate portion 331b from the bent portion 331a, and the bracket 331 is attached to the distal end portion of the rod 311 at the bent portion 331a so as to suspend the support plate portion 331b. It is attached to wind this.

  The angle adjustment motor 332 is composed of a pulse motor, and the angle adjustment motor 332 extends to the right (rightward in FIG. 6) on the output shaft at a right angle to the support plate portion 331b. Further, it is supported by the support plate portion 331b. The angle adjustment motor 332 is not limited to a pulse motor, and may be a DC motor, for example.

  The U-shaped sandwiching pin 333 is fixed to the distal end portion of the output shaft of the angle adjusting motor 332 at the base end portion, and the U-shaped sandwiching pin 333 is cylindrical at the U-shaped portion 333a. The rod part 313b of the body 313 is fitted into an annular groove part 313c formed in the rod part 313b, and sandwiches the rod part 313b of the cylindrical body 313.

  In the angle adjustment mechanism 330 configured as described above, when the angle adjustment motor 332 rotates in the forward direction, the U-shaped sandwiching pin 333 curves the bellows shaft 312 downward by the normal rotation. In this state, when the angle adjustment motor 332 is reversed, the U-shaped clamping pin 333 returns the bellows shaft 312 upward by the reverse rotation. Further, the degree of curvature of the bellows shaft 312 is determined by the rotation angle of the angle adjustment motor 332.

  Further, as shown in FIG. 7, the vital sensor unit 300 includes a blood flow measurement camera 340, a heart sound measurement microphone 350, and an infrared light emitting diode 360 (hereinafter also referred to as LED 360) functioning as a lamp. The blood flow measuring camera 340, the heart sound measuring microphone 350, and the LED 360 are accommodated in the accommodating portion 313a of the cylindrical body 313 of the longitudinal displacement member 310 as shown in FIG.

  Here, the blood flow measurement camera 340 measures the blood flow of the victim and forms blood flow image data. The heart sound measurement microphone 350 measures the heart sound of the victim and forms heart sound data. The LED 360 illuminates the above-mentioned disaster victim with infrared light.

  Further, the vital sensor unit 300 includes a heart sound confirmation speaker 370 (see FIG. 16), and this heart sound confirmation speaker 370 is supported by the rear part of the container B and is connected to the heart sound measurement microphone 350 as described later. A heart sound is generated based on the heart sound data.

  As shown in FIG. 2, the calling speaker 400a is attached to the front end portion of the left partition wall 14, and the calling speaker 400a converts the calling voice data from the calling microphone 400b (see FIG. 16) as described later. Based on this, a call voice is emitted toward the front. The calling microphone 400b is supported on the rear part of the container B, and the calling microphone 400b forms calling voice data based on a call from a rescuer such as a rescue crew.

  As shown in FIG. 2, the voice reaction confirmation microphone 500a is attached to the front end portion of the right partition wall 14, and the voice reaction confirmation microphone 500a forms the voice from the disaster victim as voice data. The voice reaction confirmation speaker 500b is supported at the rear part of the container B. As will be described later, the voice reaction confirmation speaker 500b receives the voice of the disaster victim based on the voice data from the voice reaction confirmation microphone 500a. To emit.

  The situation confirmation infrared camera 500c is attached to the front end of the right partition 14 just below the voice reaction confirmation microphone 500a. The situation confirmation infrared camera 500c photographs the situation in front of the disaster rescue robot. Then, status confirmation image data is formed.

  A liquid crystal display device 900 (hereinafter also referred to as LCD 900) is supported at the rear of the container B, and the LCD 900 displays display data as monitor data.

  Further, as shown in FIG. 11, the disaster rescue robot includes a plate-like storage table 600a, a plate-like slider 600b, a cuff 700, and an air supply mechanism 800.

  The plate-like container 600a is supported in the container B so as to be positioned along the bottom wall (the lower wall 13 of the left container member 10 and the lower wall 23 of the right container member 20).

  The plate-like slider 600b is supported so as to be displaceable in the front-rear direction along the lower surface front portion of the plate-like storage base 600a.

  Specifically, as shown in FIG. 11, the storage table 600a has left and right U-shaped wall portions 601 (only the right wall portion 601 is shown in FIG. 11). The wall portion 601 is formed in a U shape so as to face each other on the lower surface side of the front left and right edge portions of the storage table 600a. Thus, the slider 600b is fitted into the left and right U-shaped wall portions 601 of the receiving table 600a at both left and right edges, and is moved in the front-rear direction along the lower surface of the receiving table 600a via the slider mechanism 600c. It is supported so that it can be displaced.

  As shown in FIG. 12 or FIG. 13, the slider mechanism 600c has a support wall 610. This support wall 610 is behind the right U-shaped wall 601 and is located on the right front side edge of the storage table 600a. It is provided to hang down from.

  The slider mechanism 600c has a slider motor 620, and the slider motor 620 is attached to the support wall 610 so as to extend forward along the left surface of the support wall 610 at its output shaft. ing.

  The worm gear 630 is coaxially supported on the output shaft of the slider motor 620 and rotates forward (or reverse) as the slider motor 620 rotates forward (or reverse). The helical gear 640 is coaxially supported at the tip of the rotary shaft of the take-up roller 650 that passes through the support wall 610 and is rotatably inserted from the right side thereof. The helical gear 640 meshes with the worm gear 630. . Thus, the helical gear 640 rotates forward (or reverse) as the worm gear 630 rotates (or reverse).

  As described above, the take-up roller 650 is inserted and supported by the support wall 610 from the right side at the rotation shaft thereof. The take-up roller 650 rotates in the forward direction (or reverse) with the forward rotation (or reverse rotation) of the helical gear 640. (Or reverse). Thereby, the winding roller 650 winds the rope 660 by the forward rotation, and allows the wound rope 660 to be unwound by the reverse rotation.

  The rope 660 extends from the take-up roller 650, extends rearward through a roller 670 supported at the front edge of the right edge of the slider 600b, and is fixed to the rear edge of the right edge of the slider 600b at the tip. Yes. As a result, the rope 660 is taken up along with its forward rotation by the take-up roller 650, and the slider 600b is displaced forward along the lower surface of the storage table 600a. Further, when the rope 660 is wound by the winding roller 650 along with its reverse rotation, the slider 600b can be pushed rearward along the lower surface of the storage table 600a.

  The cuff 700 is normally accommodated in the container B in a folded state, and the cuff 700 is opened at the rear end 720 so that the front end opening 710 is opened forward. It is fixed to the rear part (see FIG. 19). The cuff 700 is formed in a double wall shape with the outer wall and the inner wall, and the cuff 700 is an inner wall that expands by being supplied with compressed air between the outer wall and the inner wall and expands inward. As a result, the person accommodated inside is pressed and fixed.

  Further, the cuff 700 is expanded and contracted in the front-rear direction by a pair of upper and lower winding mechanisms A (see FIGS. 18 and 19). Each of the pair of upper and lower winding mechanisms A on the right side has the same configuration as the slider mechanism 600c (excluding the roller 670) described above.

  The front upper winding mechanism A is configured to wind the rope 701 (corresponding to the rope 660 of the slider mechanism 600c) along with the forward rotation of the cuff motor 700a (refer to FIG. 16) corresponding to the slider motor 620 of the slider mechanism 600c. The upper right end of the opening 710 of 700 is pulled forward, and the upper right end of the opening 710 of the cuff 700 is released from the forward pull by unwinding the rope 701 as the cuff motor 700a is reversed. The rope 701 is fixed to the upper right end of the opening 710 of the cuff 700 at its tip.

  The front lower winding mechanism A winds a rope 702 (corresponding to the rope 660 of the slider mechanism 600c) along with the forward rotation of the cuff motor 700b (refer to FIG. 16) corresponding to the slider motor 620 of the slider mechanism 600c. The lower right end of the opening 710 of the cuff 700 is pulled forward, and the lower right end of the opening 710 of the cuff 700 is released from the forward pull by unwinding the rope 702 as the cuff motor 700b is reversed. The rope 702 is fixed to the lower right end of the opening 710 of the cuff 700 at the tip.

The rear upper winding mechanism A is configured to wind the rope 703 (corresponding to the rope 660 of the slider mechanism 600c) along with the forward rotation of the cuff motor 700c (refer to FIG. 16) corresponding to the slider motor 620 of the slider mechanism 600c. The upper right end of the opening 710 of 700 is pulled backward, and the upper right end of the opening 710 of the cuff 700 is released from the backward pulling by unwinding the rope 703 as the cuff motor 700c is reversed. The rope 703 is fixed to the upper right end of the opening 710 of the cuff 700 at the tip.

  The rear lower winding mechanism A is configured to wind the rope 704 (corresponding to the rope 660 of the slider mechanism 600c) along with the forward rotation of the cuff motor 700d (see FIG. 16) corresponding to the slider motor 620 of the slider mechanism 600c. The lower right end of the opening 710 of the cuff 700 is pulled rearward, and the lower right end of the opening 710 of the cuff 700 is released from the backward pulling by unwinding the rope 704 as the cuff motor 700d is reversed. The rope 704 is fixed to the lower right end of the opening 710 of the cuff 700 at the tip.

  According to the pair of right and left upper and lower winding mechanisms A configured as described above, the cuff 700 is rotated at the opening 710 in accordance with the forward rotation of the two cuff motors 700a and 700b under the reverse rotation of the two cuff motors 700c and 700d. Pulled forward, expanded. On the other hand, the cuff 700 is contracted by being pulled rearward at the opening 710 under the reverse rotation of the two cuff motors 700a and 700b and the forward rotation of the two cuff motors 700c and 700d.

  The air supply mechanism 800 has a compressor 810 having a built-in compressor motor 820 (see FIG. 16). The compressor 810 passes compressed air through the tube 830 into the cuff 700 in accordance with the operation of the compressor motor 820. Discharge.

The disaster rescue robot includes a plurality of hydraulic jack units J as illustrated in FIG. The respective hydraulic jack unit J is the hydraulic pressure from the hydraulic generator J1 between child feed pressure in the jack body J2, to project toward the rod J2a of the jack body J2 upward.

  Next, the electric control device of the disaster rescue robot will be described with reference to FIG. The electric control device includes both forward changeover switches 1000a and 1000b for the disaster rescue robot and both reverse changeover switches 1000c and 1000d for the disaster rescue robot.

Changeover switches 1000a, 1000b are both allows forward the left driving wheel motor 110 with a supply to the fixed contacts f1 switching contacts m, also left driving wheels with a supply to the fixed contact f2 switching contacts m the motor 110 to be reversed. Further, both the changeover switches 1000a, 1000b, due dissociation from the fixed contact points f1, f2 of the switching contacts m, put the left drive wheel motor 110 in a stopped state.

However, the switching of each switching contact m of both switches 1000a and 1000b is interlocked with each other. The changeover contact m of the changeover switch 1000a is connected to the positive terminal of the DC power supply PS via a normally closed relay switch S (described later) of the relay RY of the left turn switch mechanism 2000a, and the changeover contact m of the changeover switch 1000b is Directly connected to the negative terminal of the DC power source PS. The fixed contacts f1 and the fixed contact f2 of the switch 1000b of the switch 1000a is connected to the positive terminal of the left driving wheel motor 110, a fixed contact f2 and the fixed contact f1 of the switch 1000b of the switch 1000a is It is connected to the negative terminal of the left driving wheel motor 110.

Both changeover switches 1000c, 1000d are both allows forward the right driving wheel motor 110 with a supply to the fixed contacts f1 switching contacts m, also the right driven with a supply to the fixed contact f2 switching contacts m a wheel motor 110 to be reversed. Further, both the changeover switches 1000c, 1000d, due dissociation from the fixed contact points f1, f2 of the switching contacts m, put right driving wheel motor 110 in a stopped state.

However, switching of the switching contact m of both switches 1000c and 1000d is interlocked with switching of the switching contact m of both switching switches 1000a and 1000b. The switching contact m of the changeover switch 1000c is directly connected to the negative terminal of the DC power supply PS, and the switching contact m of the changeover switch 1000d is a normally closed relay switch S (described later) of the relay RY of the right turn switch mechanism 2000b. ) To the positive terminal of the DC power source PS. The fixed contacts f1 and the fixed contact f2 of the switch 1000d of the switch 1000c is connected to the positive terminal of the right driving wheel motor 110, a fixed contact f2 and the fixed contact f1 of the switch 1000d of the switch 1000c is It is connected to the negative terminal of the right driving wheel motor 110.

Thus, according to the respective changeover switch 1000A～1000d constructed, these turned to the fixed contacts f1 switching contacts m of the changeover switch 1000A～1000d, left and right side driving wheels motor 110 is powered from a DC power source PS Under normal circumstances. This means that the disaster rescue robot is in a forward traveling state.

Moreover, the introduction of the fixed contact f2 switching contacts m of the changeover switch 1000A～1000d, left and right side driving wheels motor 110, under the power supply from the DC power source PS, is placed in reverse rotation state. This means that the disaster rescue robot is in a reverse travel state.

  The left turn switch mechanism 2000a includes a relay RY and an operation switch SW, and the relay RY includes a relay coil R and a relay switch S that is opened by excitation of the relay coil R. When the operation switch SW is closed, the relay coil R is excited based on the power supply from the DC power source PS, and when the operation switch SW is opened, the power supply from the DC power source PS is interrupted to demagnetize the relay coil R.

  The right turn switch mechanism 2000b includes a relay RY and an operation switch SW, and the relay RY includes a relay coil R and a relay switch S that is opened by excitation of the relay coil R. When the operation switch SW is closed, the relay coil R is excited based on the power supply from the DC power source PS, and when the operation switch SW is opened, the power supply from the DC power source PS is interrupted to demagnetize the relay coil R.

According to the left turn switch mechanism 2000a or the right turn switch mechanism 2000b configured as described above, the disaster rescue robot, in its forward state, closes the relay switch S of the right turn switch mechanism 2000b and relays the left turn switch mechanism 2000a. When the switch S is opened, the left drive wheel 40 is rotated forward, and the left drive wheel 40 is rotated forward and stopped. In addition, the disaster rescue robot, in its forward state, causes the left drive wheel 40 to rotate forward by closing the relay switch S of the left turn switch mechanism 2000a and opening the relay switch S of the right turn switch mechanism 2000b. When the right driving wheel 40 stops rotating forward, the vehicle is placed in a right turn state.

  Both the change-over switches 3000a and 3000b are for forward and reverse rotation of the slider motor 620. Both the change-over switches 3000a and 3000b can rotate the slider motor 620 in the normal direction by turning on the change-over contact n to the fixed contact g1. Then, the slider motor 620 can be rotated in reverse by the switching contact n being inserted into the fixed contact g2.

  However, the switching of the switching contacts n of the two change-over switches 3000a and 3000b is interlocked with each other. The switching contact n of the changeover switch 3000a is connected to the positive terminal of the DC power supply PS, and the switching contact n of the changeover switch 3000b is connected to the negative terminal of the DC power supply PS. The fixed contact g1 of the changeover switch 3000a and the fixed contact g2 of the changeover switch 3000b are connected to the positive terminal of the slider motor 620. The fixed contact g2 of the changeover switch 3000a and the fixed contact g1 of the changeover switch 3000b are connected to the slider motor 620. Is connected to the negative terminal.

  Both change-over switches 4000a and 4000b are for reversing the width adjustment motor 210 in the forward and reverse directions. Both change-over switches 4000a and 4000b are both turned on and off when the change-over contact u is inserted into the fixed contact h1. The width adjustment motor 210 can be rotated in reverse by turning the switching contact u into the fixed contact h2.

  However, the switching of the switching contacts u of the two change-over switches 4000a and 4000b are interlocked with each other. The switching contact u of the changeover switch 4000a is connected to the positive terminal of the DC power supply PS, and the switching contact u of the changeover switch 4000b is connected to the negative terminal of the DC power supply PS. The fixed contact h1 of the changeover switch 4000a and the fixed contact h2 of the changeover switch 4000b are connected to the positive side terminal of the width adjusting motor 210, and the fixed contact h2 of the changeover switch 4000a and the fixed contact h1 of the changeover switch 4000b are width adjusted. It is connected to the negative terminal of the motor 210.

  The operation switches SWa, SWb, SWc, and SWd are used to rotate the front upper cuff motor 700a, the front lower cuff motor 700b, the rear upper cuff motor 700c, and the rear lower cuff motor 700d, respectively. The DC power supply PS is connected between the positive terminal of the DC power supply PS and the positive terminal of the front upper cuff motor 700a. The operation switch SWb is connected between the positive terminal of the DC power supply PS and the positive terminal of the front lower cuff motor 700b. The operation switch SWc is connected to the positive terminal of the DC power supply PS and the positive terminal of the rear upper cuff motor 700c. The operation switch SWd is connected between the positive terminal of the DC power source PS and the positive terminal of the rear lower cuff motor 700d. Accordingly, these operation switches SWa, SWb, SWc and SWd are supplied with power from the DC power source PS to the front upper cuff motor 700a, front lower cuff motor 700b, rear upper cuff motor 700c and rear lower cuff motor 700d, respectively. Let Each of the operation switches SWa, SWb, SWc, and SWd cuts off the power supply from the DC power source PS by opening the switch.

  The two change-over switches 5000a and 5000b are for forward / reverse rotation of the guide motor 322, and both the change-over switches 5000a and 5000b both turn the guide motor 322 forward by inserting the change-over contact v into the fixed contact i1. The guide motor 322 can be reversely rotated by turning the switching contact v into the fixed contact i2. Further, the two changeover switches 5000a and 5000b put the guide motor 322 in a stopped state by disengagement of the changeover contacts v from the fixed contacts i1 and i2.

  However, the switching of the switching contacts v of the two changeover switches 5000a and 5000b is interlocked with each other. The switching contact v of the changeover switch 5000a is connected to the positive terminal of the DC power supply PS, and the switching contact v of the changeover switch 5000b is connected to the negative terminal of the DC power supply PS. The fixed contact i1 of the changeover switch 5000a and the fixed contact i2 of the changeover switch 5000b are connected to the positive terminal of the guide motor 322, and the fixed contact i2 of the changeover switch 5000a and the fixed contact i1 of the changeover switch 5000b are connected to the guide motor 322. Is connected to the negative terminal.

  The two change-over switches 5000c and 5000d are for forward and reverse rotation of the angle adjustment motor 332, and both the change-over switches 5000c and 5000d are both turned on to the fixed contact j1 and the angle adjustment motor 332 is turned on. Can be rotated forward, and the angle adjusting motor 332 can be rotated reversely by turning on the switching contact w to the fixed contact j2. Further, the two change-over switches 5000c and 5000d put the angle adjusting motor 332 in a stopped state by the disengagement of each change-over contact w from both the fixed contacts j1 and j2.

  However, the switching of the switching contacts w of the two change-over switches 5000c and 5000d is interlocked with each other. The switching contact w of the changeover switch 5000c is connected to the positive terminal of the DC power supply PS, and the switching contact w of the changeover switch 5000d is connected to the negative terminal of the DC power supply PS. The fixed contact j1 of the changeover switch 5000c and the fixed contact j2 of the changeover switch 5000d are connected to the positive terminal of the angle adjustment motor 332, and the fixed contact j2 of the changeover switch 5000c and the fixed contact j1 of the changeover switch 5000d are angle adjusted. It is connected to the negative terminal of the motor 332.

  The operation switch SWe is for rotating the compressor motor 820, and the operation switch SWe is connected between the positive terminal of the DC power source PS and the positive terminal of the compressor motor 820. The negative terminal of the compressor motor 820 is connected to the negative terminal of the DC power source PS.

  The LED 360 is connected to the positive terminal of the DC power source PS through the operation switch SWf. Accordingly, the LED 360 is supplied with power from the DC power source PS with the operation switch SWf being closed, and emits illumination infrared light.

  The amplification circuit 6000 is connected between the heart sound confirmation speaker 370, the calling microphone 400b, and the voice reaction confirmation speaker 500b, and the heart sound measurement microphone 350, the calling speaker 400a, and the voice reaction confirmation microphone 500a.

  Thus, the amplification circuit 6000 amplifies the heart sound data from the heart sound measurement microphone 350 and outputs it to the heart sound confirmation speaker 370, and amplifies the call sound data from the call microphone 400b and outputs it to the call speaker 400a. Then, the sound data from the sound reaction confirmation microphone 500a is amplified and output to the sound reaction confirmation speaker 500b.

  The data processing circuit 7000 processes the situation confirmation image data from the situation confirmation infrared camera 500 c and the blood flow image data from the blood flow measurement camera 340 into display data and outputs the display data to the LCD 900. This means that the LCD 900 displays the situation ahead of the disaster rescue robot and the state of blood flow of the victim based on the display data from the data processing circuit 7000. In the present embodiment, the above-described electric control device is disposed at an appropriate position behind the container B of the disaster rescue robot. Note that the disaster rescue robot referred to in the present embodiment is small and relatively lightweight, and is suitable for transportation by a vehicle.

  In the present embodiment configured as described above, it is assumed that, for example, a building or a large number of buildings collapsed due to the occurrence of a large earthquake, and a large number of victims are generated. In response to such a situation, a rescuer such as a rescue member transports the disaster rescue robot to the disaster area by a vehicle when the disaster victim is rescued.

  After transporting in this way, the disaster rescue robot is unloaded from the vehicle near the collapsed building. At this time, the disaster rescue robot is lowered with the front opening of the container B toward the collapsed building. At such a stage, it is assumed that the longitudinal displacement member 310 of the vital sensor unit 300 is in a state of facing the front in the cylindrical body 313. When the operation switch SWf is closed, the LED 360 emits illumination infrared light.

Then, the forward two changeover switches 1000a, when the respective switching contacts m of 1000b put into the fixed contacts f1, left and right side driving wheels motor 110 is placed in the forward state. Then, the left and right side drive mechanism DL, DR is, with the forward rotation of the left and right sides drive wheel motor 110, is rotated forward to both drive wheels 40. Therefore, in the left and right crawler units CL and CR, the lower crawlers CL1 and CR1 rotate the right and left lower crawler belts 30 forward, and the upper crawlers CL2 and CR2 both drive the left and right upper crawler belts 30. Reverse rotation is performed under engagement with the lower crawlers CL1 and CR1.

  Accordingly, the disaster rescue robot moves forward while rotating the upper and lower crawler belts 30 of the left crawler unit CL in opposite directions and rotating the upper and lower crawler belts 30 of the right crawler unit CR in opposite directions.

In such a forward process, a rescuer such as a rescue crew checks the situation in front of the disaster rescue robot displayed on the LCD 900 based on the situation confirmation image data from the situation confirmation infrared camera 500c, while calling a microphone for calling. carry out the call to more victims to the speaker 40 0a for interrogation through 400b.

  In such a state, when a sound from a disaster victim (hereinafter referred to as the disaster victim M) is emitted from the voice response confirmation speaker 500b through the voice confirmation microphone 500a, the disaster rescue robot is directed in the direction of the voice of the disaster victim M. Make it progress.

  For example, if it is determined that the voice of the disaster victim M can be heard from the left front of the disaster rescue robot, the disaster rescue robot is advanced while turning left in that direction. Specifically, the operation switch SW of the left turn switch mechanism 2000a is closed. Accordingly, the relay RY of the left turn switch mechanism 2000a opens the relay switch S when the relay coil R is excited. At this time, the relay switch S of the relay RY of the right turn switch mechanism 2000b remains closed.

Then, the left driving mechanism DL is, the opening of the relay switch S left turn switch mechanism 2000a, by stopping the left driving wheel motor 110 stops the rotation of both the crawler belt 30 of the left crawler unit CL. For this reason, the disaster rescue robot starts to turn left under the rotation of both crawler belts 30 of the right crawler unit CR. Thereafter, when the disaster rescue robot faces the direction of the voice of the disaster victim M, when the operation switch SW of the left turn switch mechanism 2000a is opened, the relay switch S of the left turn switch mechanism 2000a is closed, and both the left crawler unit CL are closed. The crawler belt 30 starts to rotate again. As a result, the disaster rescue robot advances in the direction of the victim M.

  In such a forward process, the debris M (for example, timber) above and below the collapsed building forms a narrow space in front of the disaster rescue robot, and there is a victim M behind it. If confirmed with the display content of the LCD 900 based on the situation confirmation image data, the disaster rescue robot is further advanced between the upper and lower rubble.

  At this time, the upper crawler belts 30 of the left and right crawler units CL and CR are rotating in the opposite direction to the lower crawler belts 30, so that the disaster rescue robot pushes between the upper and lower debris. And move forward. Accordingly, the upper debris (see symbol P in FIG. 17) rides on the upper side of each upper crawler belt 30. Here, the upper debris P is supported from the lower side by the respective jack bodies J2 by the hydraulic jack units J so that the upper debris P does not fall (see FIG. 17).

  In such a state, when the disaster rescue robot further advances, an image displayed on the LCD 900 based on the situation confirmation image data from the situation confirmation infrared camera 500c may be, for example, an image as shown in FIG. For example, it can be confirmed by a rescuer or other rescuer that the rubble Q is on both legs of the victim M. At this time, it is assumed that both legs of the disaster victim M face the front opening of the container B of the disaster rescue robot (see FIG. 17).

  Therefore, the disaster rescue robot is further advanced toward both legs of the victim M. At this time, the lateral width of the container B is expanded by the container width adjusting mechanism 200. Specifically, the width adjusting motor 210 is rotated in the normal direction by putting each switching contact u of both the changeover switches 4000a and 4000b into each fixed contact h1. As a result, the width in the left-right direction of the container B is expanded by the container width adjusting mechanism 200 by the normal rotation of the width adjusting motor 210.

  Thereafter, as shown in FIG. 18, when the disaster rescue robot reaches just before both legs of the victim M, the changeover contacts m are connected to the fixed contacts f1 and f2 in the changeover switches 1000a and 1000b. At the same time, the changeover contacts m are dissociated from the fixed contacts f1 and f2 in the changeover switches 1000c and 1000d. Thereby, the disaster rescue robot stops immediately before both legs of the victim M. At this time, it is assumed that both legs of the disaster victim M face the front opening of the container B of the disaster rescue robot (see FIG. 19). Such a situation can be confirmed by the display contents of the LCD 900 based on the situation confirmation image data from the situation confirmation infrared camera 500c.

  In such a state, the state of the victim M is confirmed with the vital sensor unit 300. Specifically, both change-over switches 5000a and 5000b are turned on to each fixed contact i1 at the change-over contact v. Accordingly, the longitudinal displacement member 310 of the vital sensor unit 300 is displaced forward of the disaster rescue robot by each guide member 320 by the normal rotation of the guide motor 322. When the longitudinal displacement member 310 is positioned directly above the victim M in the cylindrical body 313, the two changeover switches 5000a and 5000b are dissociated from the fixed contacts i1 and i2 at the respective changeover contacts v. Then, the guide motor 322 is stopped.

  In such a state, the inclination of the cylindrical body 313 of the longitudinal displacement member 310 is adjusted by the angle adjustment mechanism 330. Specifically, the changeover switches 5000c and 5000d are both turned on to the fixed contacts j1 at the changeover contact w. Then, the angle adjustment mechanism 330 bends the cylindrical body 313 downward by the normal rotation of the angle adjustment motor 332. When the cylinder 313 is directed to the appropriate location of the victim M, the two change-over switches 5000c and 5000d are disengaged from the two fixed contacts j1 and j2 at each change-over contact w, and the angle adjusting motor 332 is stopped. .

  At such a stage, the blood flow measurement camera 340 measures the blood flow at an appropriate location of the victim M and outputs the blood flow image data to the data processing circuit 7000. Further, the heart sound measurement microphone 350 measures the heart sound at an appropriate place of the victim M and outputs it to the amplifier circuit 6000 as heart sound data. Then, blood flow image data is processed by the data processing circuit 7000 and output to the LCD 900. For this reason, the blood flow situation at the appropriate place of the victim M is displayed on the LCD 900. The heart sound data is amplified by the amplifier circuit 6000 and output to the heart sound confirmation speaker 370. For this reason, the heart sound at the right place of the victim M can be confirmed with the heart sound emitted from the heart sound confirmation speaker 370.

  Here, if it is determined that the victim M is a survivor and needs immediate medical treatment based on the blood flow status and heart sound, the disaster rescue robot is placed in the forward state as described above. Along with this, the debris Q on both legs of the victim M rides on the upper side under the rotation of the upper crawler belts 30 as in the case of the debris P described above (see FIG. 19). At this time, the slider 600b is slid. Specifically, both changeover switches 3000a and 3000b are turned on to the fixed contacts g1 at the changeover contacts n. Thereby, the slider mechanism 600c causes the slider 600b to slide forward of the container B by the forward rotation of the slider motor 620.

  Accordingly, the slider 600b scoops up the legs of the disaster victim M on the upper surface thereof and starts to accommodate the legs in the container B from the front opening. Further, the cuff 700 is expanded by the front upper winding mechanism A and the front lower winding mechanism A. Specifically, both operation switches SWa and SWb are closed, and the front upper cuff motor 700a and the front lower cuff motor 700b are rotated forward. Then, the cuff 700 is pulled forward at the right edge of the front end opening. Here, the front upper winding mechanism A and the front lower winding mechanism A are provided only on the right edge side of the front end opening of the cuff 700, but the cuff 700 has a front end opening due to the rigidity of the forming material. Is pulled forward and expanded. When the cuff 700 finishes extending forward, the front upper cuff motor 700a and the front lower cuff motor 700b are stopped by opening both the operation switches SWa and SWb.

  Therefore, the disaster victim M is accommodated in the cuff 700 from its front end opening while riding on the slider 600b from both legs (see FIG. 11). Thereby, the victim M can be accommodated safely and smoothly.

  Next, the cuff 700 is expanded by the air supply mechanism 800. Specifically, the operation switch SWe is closed and the compressor motor 820 is rotated. Then, the air supply mechanism 800 discharges compressed air from the compressor 810 into the cuff 700 as the compressor motor 820 rotates. Along with this, the cuff 700 is inflated to compress and fix the victim M from the outside (see FIG. 11).

  Here, it is highly likely that a crash syndrome phenomenon has occurred on both legs of the victim M due to the pressure from the debris Q, but the body of the victim M is affected by the sudden release of the victim M from the debris Q. There is a high probability that potassium will circulate and the victim M will have cardiac arrest. In order to prevent this, the cuff 700 ensures a certain compressed state against both legs of the victim M with the compressed air from the air supply mechanism 800. As a result, the rescuer M can be safely rescued.

  In implementing the present invention, the electric control device may be configured with a touch panel as an operation panel.

  In carrying out the present invention, the crawler belts 30 of the upper crawlers CL2 and CR2 only need to be on the crawler belts 30 of the lower crawlers CL1 and CR1, and the crawler belts of the lower crawlers CL1 and CR1. 30 may or may not be engaged.

It is a perspective view showing roughly the appearance of one embodiment of a disaster rescue robot concerning the present invention. It is a partially broken plan view of the disaster rescue robot. It is a partially broken side view of the disaster rescue robot. FIG. 4 is a sectional view taken along line 4-4 in FIG. It is an expansion perspective view of the container of FIG. It is a principal part enlarged side view of the vital sensor unit of FIG. FIG. 7 is a partially cutaway enlarged side view of the cylindrical body, the heart sound measurement microphone, the LED, and the blood flow measurement camera of the vital sensor unit of FIG. 6. It is a front view of the cylinder of FIG. 6, the microphone for heart sound measurement, LED, and the camera for blood flow measurement. It is a partial cross section enlarged side view of the guide member of FIG. It is a partially sectional enlarged front view of the angle adjustment Organization of FIG. It is a perspective view of the disaster rescue robot in the state which accommodated the victim in the cuff. It is a partial cross-section enlarged front view of the slider mechanism. It is an enlarged side view of a slider mechanism. It is an enlarged front view of an air supply mechanism. It is a side view of a hydraulic jack unit. It is a circuit diagram of the electric control device of the disaster rescue robot. It is a perspective view for demonstrating rescue of a victim by the said disaster rescue robot in one state. It is a perspective view for demonstrating rescue of a victim by the said disaster rescue robot in another state. It is a perspective view for demonstrating rescue of a disaster victim by the said disaster rescue robot in still another state.

Explanation of symbols

B ... Container, CL ... Left crawler unit, CL1 ... Lower crawler,
CL2 ... Upper crawler, CR ... Right crawler unit, CR1 ... Lower crawler,
CR2 ... Upper crawler, DL ... Left side drive mechanism, DR ... Right side drive mechanism,
10 ... Left container member, 11, 21 ... Upper wall, 12 ... Left wall, 13, 23 ... Lower wall,
20 ... right container member, 22 ... right wall, 30 ... crawler belt,
200 ... container width adjusting mechanism, 300 ... vital sensor unit,
310 ... Longitudinal displacement member, 340 ... Camera for blood flow measurement,
350 ... Microphone for heart sound measurement, 360 ... LED, 600a ... Plate-shaped container,
600b ... slider, 600c ... slider mechanism, 700 ... cuff,
800: Compressed air supply mechanism.

Claims (7)

Left and right side crawler units each comprising a lower crawler having a crawler belt, and an upper crawler having a crawler belt stacked on the lower crawler and reversely rotated outwardly from each other.
Top wall, having a left container member U-shaped formed by setting only the left wall and the lower wall, upper wall, formed by providing the right and bottom walls U-shaped and a right container member, the right and left A cylindrical container connected to the left and right side crawler units between both side crawler units,
The left container member is fitted on the upper wall and the lower wall of the right container member so as to be displaceable in the left and right direction and inseparable from each other to form the cylindrical container. And
The left crawler unit is supported on the left wall of the left container member by the lower crawler and upper crawler rollers, and the right crawler unit has the lower crawler and upper crawler rollers. A disaster rescue robot supported by the right wall of the right container member. Disaster relief robot as set forth in claim 1, characterized in that it comprises a container width adjusting means for adjusting the width between the front Symbol right wall of the left wall and the right container member of the left container member. A left driving means for driving so as to reverse outward from each other each of the driving wheels of the upper and lower sides crawler of the left-side crawler unit,
The disaster rescue robot according to claim 1 or 2, further comprising right drive means for driving the drive wheels of the upper and lower crawlers of the right crawler unit so as to reverse each other outward . Claim 1, characterized in that it comprises illumination means is extended from the front SL container to its forward at tip, a vital sensor unit formed by providing a elongated displacement member having a blood flow imaging unit and the heart sound measuring means The disaster rescue robot according to any one of? Before SL elongated displacement member includes a rod which is supported by a plurality of guide members to be displaceable in the longitudinal direction on the upper wall of the container, the bellows shaft connected to the distal end of the rod, the distal end portion of the bellows shaft A cylindrical body supported by the illumination means, blood flow imaging means and heart sound measurement means,
Each of the guide members is configured to displace the rod forward (or backward) by forward rotation (or reverse rotation) of the guide motor.
The disaster rescue robot according to claim 4, wherein the bellows axis is adjusted by an angle adjusting means so as to change a direction of the cylindrical body in a vertical direction . A housing base which is secured along its bottom wall before Symbol the container, a slider slidably parallel in the longitudinal direction to the housing base at its front part,
The disaster rescue robot according to claim 1, further comprising a slider mechanism that slides the slider forward . A double wall cuff provided in the container and opening toward the front;
The disaster rescue robot according to claim 1, further comprising compressed air supply means for supplying compressed air to the cuff so as to expand the inside of the wall of the cuff .

Images